CN1994689B - Robot and robot detection automation method - Google Patents

Abstract

The invention relates to a robot which can automatically detect object and find the state, wherein it comprises robot position finder (B1) for finding the position of robot; the first object-and state finder (R1) for detecting the position and state of object to make the connecting line between finder (B1) and finder (R1) vertical to the horizontal plane and their distance fixed; the second object position-state finder (R2) for detecting the object position and state to rotate around the finder (R1) with fixed radius.

Description

Robot and robot detection automation method

Technical field

The present invention relates to a kind of robot, this robot can detect the existence of object automatically, and can determine the position and the attitude of object, and a kind of robot detection automation method.

Background technology

Robot just is being applied in each field of industrial production and family life more and more widely.In the family, robot can finish various housework work, for example looks after old man or disabled person.One of task of domestic robot is exactly to pick and place article for handicapped person, and when people provided the order that picks and places certain article, robot should be able to find article automatically and carry out given operation.

For finding the object that to operate, preferably make robot can independently know the position of object in advance, rather than allow robot in whole room, seek aimlessly.In order to carry out the operation that picks and places object, robot also needs to know the attitude of object.

There are many patent applications to relate to robot and how determine the position of oneself, how the patent of inspected object position and attitude is less but about robot, and all be the particular location of under the nigh prerequisite of known this object, further determining object, these patent applications belong to mechanical field mostly.

Robot determines that a kind of common methods of self-position is by use gyroscope, direction sensor and velocity sensor, writes down its relative position for starting point, and the absolute position according to starting point draws the current absolute position of robot again.

The open No.EP1505465A1 of european patent application has provided another kind of method, places signal lamp on the point of known location, and signal lamp transmits with infrared ray or form of electromagnetic wave, and robot calculates the position of oneself by the signal that receives 3 signal lamps.

Japanese Patent Application Publication No.JP2004230539 discloses a kind of method that robot determines object space, signal lamp is affixed on the object, the signal of signal lamp on receiving from object on three diverse locations of the robot that can position oneself around the object, the position of calculating object by the distance that signal strength signal intensity is converted between robot and the object.Come by this method to determine object space, ratio of precision is lower, and need set up the relational database between signal strength signal intensity and the distance in advance, and common this relation changes with environment, measure in advance at concrete environment.

The another kind of robot that uses determines that the method for object space is two camera aiming objects that make in the robot, position according to relevant theories of vision and image processing method calculating object, the open No.CN 1293752A of its example such as Chinese patent application, this method is complicated and involve great expense, and is responsive to light.

On the other hand, the RFID technology just is being widely used in identification and is following the tracks of object in logistics field, and the RFID technology also is used to positioning object recently.For example, the RFID label that comprises positional information is disposed in the workspace, and mobile object is got the position of nearest RFID label, as its position.The open No.CN1637769 of Chinese patent application can be used as the example of this method; Can also adopt the range-free localization method in addition, mobile object is limited in the position of oneself in the common zone that covers of several RFID labels, the precision of these localization methods is relatively low.

Summary of the invention

Therefore, the object of the present invention is to provide a kind of robot, can detect the object existence and determine its position and attitude, and be easy to realize that positioning accuracy is higher.

According to first scheme of the present invention, a kind of robot has been proposed, the position of the existence of inspected object, and definite object automatically and attitude comprise: the robot location determines device, is used for determining the position of described robot; First object space and attitude are determined device, be used for determining the position and the attitude of examined object, make described robot location determine that device determines that with described first object space and attitude the line between the device is vertical with horizontal plane, and the fixed distance between the two is constant; And second object space and attitude determine device, be used for determining the position and the attitude of described examined object, can be with fixing radius, determine that around described first object space and attitude device horizontally rotates.

Preferably, described robot also comprises: angular transducer is used to write down described second object space and attitude and determines that device determines the angle that device rotates around described first object space and attitude.

Preferably, described robot also comprises: inclination sensor, be used to detect described robot inclined degree with respect to the horizontal plane, and, keep described robot location and determine that device and described first object space and attitude determine that the line between the device is vertical with horizontal plane all the time according to detected inclined degree.

Preferably, described second object space and attitude determine that device determines the electromagnetic wavelength that the radii fixus of device rotation is launched less than described examined object around described first object space and attitude.

Preferably, described robot location determines that device and other position determining means of at least three location awares carry out communication, calculates the position that described robot location determines device thus, thereby determines the position of described robot.

Preferably, described robot location determines that device is a signal lamp, has RF transceiver and ultrasonic transmitter-receiver.

Preferably, when described robot was mobile in the room, described first object space and attitude determined that device constantly detects the examined object that may exist; When described first object space and attitude determine that device detects examined object, described first object space and attitude determine that device stops to detect, simultaneously, described second object space and attitude determine that device begins to determine that around described first object space and attitude device horizontally rotates, carry out object detection, and stop at received signal the strongest a bit; Described second object space and attitude determine that device is at this some emission electromagnetic wave, respond this electromagnetic wave by described examined object, feed back in electromagnetic mode equally, described first and second object spaces and attitude determine that device receives this feedback, and the phase place of record feedback signal, described second object space and attitude determine that described second object space of device recording and attitude determine that device launches the electromagnetic time and receive electromagnetic time of described examined object emission; And according to this moment described robot location determine that the phase difference of coordinate, feedback signal of device and described second object space and attitude determine that device emission electromagnetic wave to the electromagnetic time difference of the feedback that receives described examined object, determines the position of described examined object.

Preferably, described first and second object spaces and attitude determine that device is radio frequency identification reader or infrared ray identification reader or ultrasonic wave identification reader.

Preferably, described reader detects RFID tags or infrared ray identification (RFID) tag or the ultrasonic wave identification (RFID) tag that is installed on the described examined object.

Preferably, described first and second object spaces and attitude determine that the device basis is installed in the original coordinates and the current detected coordinate of the identification (RFID) tag on the described examined object, determines the attitude of described examined object.

Preferably, the identification (RFID) tag that is installed on the described examined object is at least four, and is not positioned at same plane.

According to another aspect of the present invention, proposed a kind of object detection that is used for robot and position thereof and attitude and determined method, described robot comprises: the robot location determines device, is used for determining the position of described robot; First object space and attitude are determined device, be used for determining the position and the attitude of examined object, make described robot location determine that device determines that with described first object space and attitude the line between the device is vertical with horizontal plane, and the fixed distance between the two is constant; And second object space and attitude determine device, be used for determining the position and the attitude of described examined object, can be with fixing radius, determine that around described first object space and attitude device horizontally rotates, said method comprising the steps of: described first object space and attitude are determined the examined object that the device continuous detecting may exist, and stop to detect when detecting examined object; Described second object space and attitude determine that device begins to determine that around described first object space and attitude device horizontally rotates, and receive the signal of described object to be detected emission and stop at the strongest point of received signal; Described second object space and attitude are determined the some emission electromagnetic wave that device stops described and are write down launch time; Described examined object responds this electromagnetic wave and feeds back electromagnetic wave; Described first and second object spaces and attitude determine that device receives the electromagnetic wave of feedback, and the phase place of record feedback signal, described second object space and attitude determine that device recording receives the electromagnetic time of feedback, described robot location determines that the phase difference of coordinate, feedback signal of device and described second object space and attitude determine that device emission electromagnetic wave to the electromagnetic time difference of the feedback that receives described examined object, determines the position of described examined object according to this moment; And described first and second object spaces and attitude determine that device according to the original coordinates and the current detected coordinate that are installed in the identification (RFID) tag on the described examined object, determines the attitude of described examined object.

Preferably, described second object space and attitude determine that device determines the described electromagnetic wavelength that the radii fixus of device rotation is launched less than described examined object around described first object space and attitude.

According to another aspect of the present invention, a kind of robot detection automation method has been proposed, make robot have existence and the position of definite object and the ability of attitude of automatic inspected object, described method comprises: the robot location who is identified for the position of definite described robot determines the locus point (B of device ₁); Determine the locus point (B of device according to described robot location ₁), be identified for determining position and first object space of attitude and the locus point (R that attitude is determined device of examined object ₁), make described robot location determine the locus point (B of device ₁) determine the locus point (R of device with described first object space and attitude ₁) between line vertical with horizontal plane, and the fixed distance between the two is constant; And the position and second object space of attitude and the locus point (R that attitude is determined device that are identified for determining described examined object ₂), described second object space and attitude are determined the locus point (R of device ₂) be positioned at the locus point (R that determines device with described first object space and attitude ₁) be on the center of circle and the circle parallel with horizontal plane.

Robot among the present invention can finish the action of the required article of handicapped person of taking voluntarily according to handicapped person's order.

Description of drawings

Below with reference to accompanying drawings, the preferred embodiments of the present invention are described in detail, wherein:

Fig. 1 shows the schematic diagram according to the layout of the signal lamp in the robot of the present invention and two RFID readers;

Fig. 2 is used to explain the schematic diagram that how detects and determine label position by two RFID readers;

Fig. 3 A to 3C shows the schematic diagram that the label on the typical shape object distributes; And

Fig. 4 shows the flow chart according to robot detection automation method of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is specified.Be noted that described embodiment only is for illustrative purposes, rather than limitation of the scope of the invention.Described various numerical value is not to be used to limit the present invention, and these numerical value can carry out any suitable modification according to those of ordinary skills' needs.

In the present invention, use the RFID technology to determine the position and the attitude of object, but should be understood that those of ordinary skills also can be applied to infrared technology and ultrasonic technology etc. with technological thought of the present invention.

The setting of robot

Fig. 1 shows the schematic diagram according to the layout of the signal lamp in the robot of the present invention and two RFID readers.

With reference to figure 1, the robot among the present invention also is equipped with a signal lamp B except the indispensable device that possesses common robot ₁(robot location determines device) and two RFID reader R ₁And R ₂(first and second object spaces and attitude are determined device).Each object among the present invention all posts four RFID label T1～T4, after a while with reference to Fig. 3, the layout of RFID label is described in detail.

RFID reader R ₁And R ₂T1～T4 carries out communication by electromagnetic wave with the RFID label.If an object that posts the RFID label is in the signal cover of RFID reader, its RFID label feeds back to reader with the tag identification code of self.According to this feedback, the built-in object database of robot inquiry just knows that what object what post this label is.Robot can detect the existence of object and identify object by this method.

Signal lamp B ₁With a RFID reader R ₁Be installed in the robot, when robot moves horizontally, signal lamp B ₁With RFID reader R ₁Line B ₁R ₁Vertical with horizontal plane, signal lamp B ₁With RFID reader R ₁Between fixed distance.At RFID reader R ₁Mounting points on, the horizon bar of a weak point, another one RFID reader R are arranged ₂Be installed in the other end of horizon bar, horizon bar can be around vertical join line B ₁R ₁Horizontally rotate, so RFID reader R ₂Always with RFID reader R ₁Has identical height.RFID reader R ₁With RFID reader R ₂Between distance very short, be a constant.Angular transducer (not shown) record RFID reader R ₂Around RFID reader R ₁The angle of rotating.The sensor (not shown) of detection machine physiognomy for the horizontal plane inclined degree also is installed in the robot, and these data are used to adjust signal lamp B ₁With RFID reader R ₂Make line B ₁R ₁Always keep vertical and be connected R with horizontal plane ₁And R ₂Quarter butt keep level.

The signal lamp B of robot ₁On RF transceiver and ultrasonic transmitter-receiver and the RF transceiver and the ultrasonic transmitter-receiver that are arranged in the signal lamp of at least three location awares on the ceiling carry out communication, calculate thus and know signal lamp B in the robot ₁The position.Signal lamp B ₁Realize positioning oneself by this method, its position is regarded as the position of robot.

The used coordinate system of robot system as shown in Figure 1, wherein the xoy plane is a local space horizontal plane, the z axle is perpendicular to the xoy plane.If signal lamp B ₁Coordinate be (x _B, y _B, H _B), because RFID reader R ₁With signal lamp B ₁Only in vertical direction at a distance of a constant Δ B ₁R ₁, so RFID reader R ₁Coordinate be (x ₁, y ₁, H)=(x _B, y _B, H _B+ Δ B ₁R ₁), Δ B wherein ₁R ₁Can be on the occasion of also being negative value.Can establish RFID reader R ₁With RFID reader R ₂Between short distance be Δ R ₁R ₂, RFID reader R ₂Around RFID reader R ₁Horizontally rotate clockwise, and with angle that y axle positive direction forms be α ₁₂, RFID reader R ₂Coordinate (x ₂, y ₂, H) can be by RFID reader R ₁Coordinate Calculation draw (x ₂, y ₂, H)=(x ₁+ Δ R ₁R ₂Sin α ₁₂, y ₁+ Δ R ₁R ₂Cos α ₁₂, H).Therefore no matter where robot is, can both be by signal lamp B ₁Position calculation go out two RFID reader R ₁And R ₂The position.

Determining of the detection of object and position thereof

The position (initial phase) of all objects should be known in advance automatically in robot, and sets up the object database about object names and its position relation.When people provided the object names that will operate, robot just can obtain object space according to the object names Query Database, directly went to this position operation object then.Therefore, at initial phase, robot moves position and the attitude which object is arranged in the room on earth and determine them to detect in the room.

By predetermined walking rule, robot can travel through whole room, and all objects side is passed through from the room.When it during through an object, because its RFID reader R ₁And R ₂Receive from the feedback that invests the RFID label on the object, it can recognize the existence of this object, promptly " discovery " object, by the feedback tag identification code, can further identify this object.

Fig. 2 is used for explaining how to pass through two RFID reader R ₁And R ₂The schematic diagram of detection and definite label position.

When robot is mobile in the room, RFID reader R ₁Constantly transmit and receive electromagnetic wave.If near the object that posts the RFID label is arranged, robot just can detect the existence of object, and further determines the position of label to set up the relation between object names and its label position according to following method.

As RFID reader R ₁When receiving the feedback of a RFID label, RFID reader R ₂Begin around RFID reader R ₁Horizontally rotate and begin to receive and dispatch electromagnetic wave.For preventing to disturb RFID reader R ₁No longer transmit.RFID reader R ₂Around RFID reader R ₁Rotation, and stop at 1 the strongest A of received signal.Suppose RFID reader R ₁The point at place is B, and the point at label place is C, can prove that triangle Δ ABC is in a vertical plane perpendicular to horizontal plane.

RFID reader R ₂At A point emission electromagnetic wave, be positioned at the label that C order and receive this electromagnetic wave and the same tag identification code that feeds back to it in electromagnetic mode.RFID reader R ₁And R ₂All receive the phase place of this feedback and record feedback signal.Select suitable electromagnetic wavelength λ, make λ greater than RFID reader R ₁And R ₂Between distance A B, therefore the difference of two phase places is in one-period, the difference at two phase angles is designated as φ:

$\mathrm{\φ}=2\mathrm{\π}\frac{\mathrm{CB}-\mathrm{CA}}{\mathrm{\λ}}$ (equation 1),

Wherein CB is the distance between 2 of B, the C, and CA is the distance between 2 of A, the C.RFID reader R ₂Pick up counting during electromagnetic wave in its emission, timing finishes when receiving the electromagnetic wave that label returns, and ignores label from receiving electromagnetic wave to the time delay the emission feedback electromagnetic wave, then RFID reader R ₂The two-way time that the time of record is electromagnetic wave between A, C, can draw distance C A between A, the C at 2 according to this time at 2.

Because R ₁And R ₂Between distance very short, 2cm for example usually much smaller than the distance between reader and the label, supposes vector With the angle of z axle positive direction be θ, can obtain following equation (2):

$\mathrm{CB}-\mathrm{CA}=\left|\stackrel{\→}{\mathrm{CB}}\right|-\left|\stackrel{\→}{\mathrm{CA}}\right|\≈\left|{\stackrel{\→}{\mathrm{BA}}}_{\mathrm{xy}}\right|\sin \mathrm{\θ}$ (equation 2)

Wherein

It is vector

The length of the projection on the xoy plane, because

Be parallel to the xoy plane, therefore $\left|{\stackrel{\→}{\mathrm{BA}}}_{\mathrm{xy}}\right|=\mathrm{\Δ}{R}_1{R}_2=\mathrm{AB}.$

So,, can obtain following about equation (3) according to equation (1) and (2)

$\mathrm{\φ}\≈2\mathrm{\π}\frac{\mathrm{AB}\sin \mathrm{\θ}}{\mathrm{\λ}}$ (about equation 3).

In about equation (3), φ can be measured comes out, so can obtain vector from about equation (3)

Angle with z axle positive direction $\mathrm{\θ}\≈\arcsin \frac{\mathrm{\φ\λ}}{2\mathrm{\πAB}},$ $\mathrm{CB}=\mathrm{CA}+\frac{\mathrm{\φ\λ}}{2\mathrm{\π}}.$

The coordinate of label position C is designated as (x ₃y ₃, h), h=H+CBcos θ.The angle of plane ABC and plane yoz is exactly RFID reader R ₂Around RFID reader R ₁Horizontally rotating the angle that forms with y axle positive direction clockwise is α ₁₂, ${\mathrm{\α}}_{12}=\arctan \frac{x_2-x_1}{y_2-y_1},$ So can obtain x by following equation (4) expression ₃And y ₃:

x ₃＝x ₁+CBsinθsinα ₁₂

y ₃=y ₁+ CBsin θ cos α ₁₂(equation 4)

Therefore use this method, can pass through two RFID reader R ₁And R ₂, detect the position C of RFID label.

The detection of object attitude

As mentioned above, each object among the present invention all posts four RFID label T ₁, T ₂, T ₃, T ₄, after a while with reference to Fig. 3 A to 3C, the layout of RFID label is described in detail.

Four label T ₁, T ₂, T ₃, T ₄Coordinate all obtain by said method.These four labels (it is specifically arranged, is described with reference to Fig. 3) not on same plane are so the coordinate of any point can be by the unique expression of the linear combination of four tag coordinates, so the attitude of object is also just by unique deciding on the object.

Obtain the position of four labels on the object for the first time when robot after, it has set up the initial attitude of object.After the object attitude changes, can set up the function of representing this posture changing according to the initial position and the reposition after the conversion of four labels.This function is acted on the initial coordinate of any point on the object, can obtain the new coordinate of this point behind the object posture changing.This function has been represented this change of object attitude uniquely.

Bidding is signed T _iThe original coordinates of (i=1,2,3,4) is (x _i, y _i, z _i), behind the object posture changing, the new coordinate of its correspondence is (x _i', y _i', z _i'), use function f to represent this conversion, shown in equation (5).

$\left[\begin{array}{cccc}{x_1}^{\′}& {x_2}^{\′}& {x_3}^{\′}& {x_4}^{\′}\\ {y_1}^{\′}& {y_2}^{\′}& {y_3}^{\′}& {y_4}^{\′}\\ {z_1}^{\′}& {z_2}^{\′}& {z_3}^{\′}& {z_4}^{\′}\\ 1& 1& 1& 1\end{array}\right]=\left[\begin{array}{cccc}{x}_1& x_2& x_3& x_4\\ y_1& y_2& y_3& y_4\\ z_1& z_2& z_3& z_4\\ 1& 1& 1& 1\end{array}\right]\·f$ (equation 5)

So function f is one 4 * 4 a matrix, use C to represent this matrix.

Suppose: $A=\left[\begin{array}{cccc}{x}_1& x_2& x_3& x_4\\ y_1& y_2& y_3& y_4\\ z_1& z_2& z_3& z_4\\ 1& 1& 1& 1\end{array}\right],$ $B=\left[\begin{array}{cccc}{x_1}^{\′}& {x_2}^{\′}& {x_3}^{\′}& {x_4}^{\′}\\ {y_1}^{\′}& {y_2}^{\′}& {y_3}^{\′}& {y_4}^{\′}\\ {z_1}^{\′}& {z_2}^{\′}& {z_3}^{\′}& {z_4}^{\′}\\ 1& 1& 1& 1\end{array}\right],$

Equation (5) can be write and be done: B=AC.

In fact, C is the combination of translation transformation and rotation transformation, because object is a rigid body, so the conversion of object attitude does not comprise scale transformation.Four labels are not in same plane, so the determinant of A and B is all non-0, they all are invertible matrix.

So C=A ^-1B

If certain any initial coordinate is on the object (x, y z), can be drawn by following formula through its new coordinate (x ', y ', z ') after this conversion: (and x ', y ', z ', 1) ^T=(x, y, z, 1) ^TC

Robot safeguards an object database.Wherein all set up for each object, for example, following clauses and subclauses: object names, the object initial attitude that the tag identification code of four labels, the initial position of four labels are represented, and with respect to the posture changing Matrix C of initial attitude.Like this, the attitude of object can be represented by four RFID labels on the object.Be noted that to the invention is not restricted to this, but can increase or set up other clauses and subclauses.

The layout of RFID label on object

The basic mode of arranging four RFID labels on object is: the first, four RFID label is not at grade.When arranging label, pay close attention to more usually the front that presented when object is placed in the space in the usual way and above.Because the RFID label that robot, is attached to the object front by the front process of object is subjected to still less obstruction than the RFID label that is attached to the object back side, the signal that therefore is received from/feeds back to the RFID reader is all stronger.Equally, recently the label signal from the object bottom surface is stronger from the RFID label signal above the object.Therefore, four labels are attached to the top and front of object usually.

The distribution of the second, four label should cover big as far as possible zone relatively.If four labels are distributed in a certain zone of object compactly, represent with four tag coordinates, on the object in the coordinate expression formula of label point far away relatively, coefficient can be bigger.The slight error of these four tag location after big coefficient amplifies, can cause than on the far point location than mistake.On the contrary, if four distributions of label on object are more even, their position error is treated the influence of anchor point, goes up the other way around and can reduce because of cancelling out each other.Simultaneously, layout probability that object is detected is bigger like this.

These two modes that label is arranged are potentially conflicting sometimes, and in this case, should select wherein a kind of according to the concrete shape of object be main mode.

Fig. 3 A shows the schematic diagram that the label on the typical shape object distributes to 3C.For example, if the shape of object is similar to ball (Fig. 3 A), four labels should be distributed in ball in connect on four summits of positive triangular pyramid, wherein three in front, one is overleaf.If object is approximately cuboid or cube (Fig. 3 B), two labels should be attached on two summits of object front and top intersection, and two other label should be attached on the body diagonal.If object is similar to cylindrical (Fig. 3 C), three labels should be attached to top disc in connect on three summits of equilateral triangle, and wherein two are near the object front, the 4th label be attached to the object front near the bottom surface a bit.

Robot detection automation method

Fig. 4 shows the flow chart according to robot detection automation method of the present invention.With reference to Fig. 1 and Fig. 4, robot detection automation method of the present invention is described below.

At first, at step S401, the location is used for the signal lamp B of the position of definite robot ₁Then, at step S402, according to signal lamp B ₁The locus, location RFID reader R ₁, make signal lamp B ₁Locus point and RFID reader R ₁Locus point between line vertical with horizontal plane, and the fixed distance between the two is constant.At last, location RFID reader R ₂, RFID reader R ₂The locus point be positioned at RFID reader R ₁Locus point on the center of circle and the circle parallel with horizontal plane, RFID reader R ₂Can center on RFID reader R ₁Horizontally rotate.

To signal lamp B ₁, RFID reader R ₁And R ₂Carry out after the above-mentioned location signal lamp B being installed ₁, RFID reader R ₁And R ₂Robot can be according to the description of the relevant Fig. 1 in front～3, realize the existence of object and the automatic detection of attitude thereof.Thus, make described robot have existence and the position of definite object and the ability of attitude of automatic inspected object, and be easy to realize that positioning accuracy is higher.

Although illustrated and described the present invention at exemplary embodiments, will be understood by those skilled in the art that, under the situation that does not break away from the spirit and scope of the present invention, can carry out various other change, replacement and interpolations.Therefore, the present invention should not be understood that to be limited to above-mentioned particular instance, and should be limited by claims.

Claims (25)

1. robot, the position of the existence of inspected object, and definite object automatically and attitude comprise:

The robot location determines device (B ₁), be used for determining the position of described robot;

First object space and attitude are determined device (R ₁), be used for determining the position and the attitude of examined object making described robot location determine device (B ₁) determine device (R with described first object space and attitude ₁) between line vertical with horizontal plane, and the fixed distance between the two is constant; And

Second object space and attitude are determined device (R ₂), be used for determining the position and the attitude of described examined object, can be with fixing radius, determine device (R around described first object space and attitude ₁) horizontally rotate.

2. robot according to claim 1 is characterized in that also comprising:

Angular transducer is used to write down described second object space and attitude and determines that device determines the angle that device rotates around described first object space and attitude.

3. robot according to claim 1 is characterized in that also comprising:

Inclination sensor, be used to detect described robot inclined degree with respect to the horizontal plane, and, keep described robot location and determine that device and described first object space and attitude determine that the line between the device is vertical with horizontal plane all the time according to detected inclined degree.

4. according to the described robot of one of claim 1 to 3, it is characterized in that described second object space and attitude determine that device determines the electromagnetic wavelength that the radii fixus of device rotation is launched less than described examined object around described first object space and attitude.

5. according to the described robot of one of claim 1 to 3, it is characterized in that described robot location determines that device and other position determining means of at least three location awares carry out communication, calculate described robot location thus and determine the position of device, thereby determine the position of described robot.

6. robot according to claim 5 is characterized in that described robot location determines that device is a signal lamp, has RF transceiver and ultrasonic transmitter-receiver.

7. according to the described robot of one of claim 1 to 3, it is characterized in that

When described robot was mobile in the room, described first object space and attitude determined that device constantly detects the examined object that may exist;

When described first object space and attitude determine that device detects examined object, described first object space and attitude determine that device stops to detect, simultaneously, described second object space and attitude determine that device begins to determine that around described first object space and attitude device horizontally rotates, carry out object detection, and stop at received signal the strongest a bit;

Described second object space and attitude determine that device is at this some emission electromagnetic wave, respond this electromagnetic wave by described examined object, feed back in electromagnetic mode equally, described first and second object spaces and attitude determine that device receives this feedback, and the phase place of record feedback signal, described second object space and attitude determine that described second object space of device recording and attitude determine that device launches the electromagnetic time and receive electromagnetic time of described examined object emission; And

Described robot location determines that the phase difference of coordinate, feedback signal of device and described second object space and attitude determine that device emission electromagnetic wave to the electromagnetic time difference of the feedback that receives described examined object, determines the position of described examined object according to this moment.

8. according to the described robot of one of claim 1 to 3, it is characterized in that described first and second object spaces and attitude determine that device is radio frequency identification reader or infrared ray identification reader or ultrasonic wave identification reader.

9. robot according to claim 8 is characterized in that described reader detects RFID tags or infrared ray identification (RFID) tag or the ultrasonic wave identification (RFID) tag that is installed on the described examined object.

10. robot according to claim 1, it is characterized in that described first and second object spaces and attitude determine that device according to being installed in the original coordinates and the current detected coordinate of the identification (RFID) tag on the described examined object, determines the attitude of described examined object.

11. robot according to claim 10, the identification (RFID) tag that it is characterized in that being installed on the described examined object is at least four, and is not positioned at same plane.

12. object detection that is used for robot and position thereof and attitude are determined method, described robot comprises: the robot location determines device, is used for determining the position of described robot; First object space and attitude are determined device, be used for determining the position and the attitude of examined object, make described robot location determine that device determines that with described first object space and attitude the line between the device is vertical with horizontal plane, and the fixed distance between the two is constant; And second object space and attitude determine device, be used for determining the position and the attitude of described examined object, can be with fixing radius, determine that around described first object space and attitude device horizontally rotates,

Said method comprising the steps of:

Described first object space and attitude are determined the examined object that the device continuous detecting may exist, and stop to detect when detecting examined object;

Described second object space and attitude determine that device begins to determine that around described first object space and attitude device horizontally rotates, and receive the signal of described object to be detected emission and stop at the strongest point of received signal;

Described second object space and attitude are determined the some emission electromagnetic wave that device stops described and are write down launch time;

Described examined object responds this electromagnetic wave and feeds back electromagnetic wave;

Described first and second object spaces and attitude determine that device receives the electromagnetic wave of feedback, and the phase place of record feedback signal, and described second object space and attitude determine that device recording receives the electromagnetic time of feedback;

Described robot location determines that the phase difference of coordinate, feedback signal of device and described second object space and attitude determine that device emission electromagnetic wave to the electromagnetic time difference of the feedback that receives described examined object, determines the position of described examined object according to this moment; And

Described first and second object spaces and attitude determine that the device basis is installed in the original coordinates and the current detected coordinate of the identification (RFID) tag on the described examined object, determines the attitude of described examined object.

13. method according to claim 12 is characterized in that described second object space and attitude determine that device determines the described electromagnetic wavelength that the radii fixus of device rotation is launched less than described examined object around described first object space and attitude.

14. method according to claim 12, the identification (RFID) tag that it is characterized in that being installed on the described examined object is at least four, and is not positioned at same plane.

15. a robot detection automation method makes robot have existence and the position of definite object and the ability of attitude of automatic inspected object, described method comprises:

The robot location who is identified for the position of definite described robot determines the locus point (B of device ₁);

Determine the locus point (B of device according to described robot location ₁), be identified for determining position and first object space of attitude and the locus point (R that attitude is determined device of examined object ₁), make described robot location determine the locus point (B of device ₁) determine the locus point (R of device with described first object space and attitude ₁) between line vertical with horizontal plane, and the fixed distance between the two is constant; And

Be identified for determining position and second object space of attitude and the locus point (R that attitude is determined device of described examined object ₂), described second object space and attitude are determined the locus point (R of device ₂) be positioned at the locus point (R that determines device with described first object space and attitude ₁) be on the center of circle and the circle parallel with horizontal plane.

16. robot detection automation method according to claim 15 is characterized in that also comprising:

Write down described second object space and attitude and determine that device determines the angle that device rotates around described first object space and attitude.

17. robot detection automation method according to claim 15 is characterized in that also comprising:

Detect described robot inclined degree with respect to the horizontal plane, and, keep locus point that described robot location determines device and described first object space and attitude and determine that the line between the locus point of device is vertical with horizontal plane all the time according to detected inclined degree.

18., it is characterized in that the electromagnetic wavelength that described radius of a circle is launched less than described examined object according to the described robot detection automation method of one of claim 15 to 17.

19., it is characterized in that also comprising according to the described robot detection automation method of one of claim 15 to 17:

Described robot location determines that device and other position determining means of at least three location awares carry out communication, calculates the space coordinates that described robot location determines the locus point of device thus, thereby determines the position of described robot.

20. robot detection automation method according to claim 19 is characterized in that described robot location determines that device is a signal lamp, has RF transceiver and ultrasonic transmitter-receiver.

21., it is characterized in that also comprising according to the described robot detection automation method of one of claim 15 to 17:

When described robot was mobile in the room, described first object space and attitude determined that device constantly detects the examined object that may exist;

When described first object space and attitude determine that device detects examined object, described first object space and attitude determine that device stops to detect, simultaneously, described second object space and attitude determine that device begins to determine that around described first object space and attitude device horizontally rotates, carry out object detection, and stop at received signal the strongest a bit;

Described second object space and attitude determine that device is at this some emission electromagnetic wave, respond this electromagnetic wave by described examined object, feed back in electromagnetic mode equally, described first and second object spaces and attitude determine that device receives this feedback, and the phase place of record feedback signal, described second object space and attitude determine that described second object space of device recording and attitude determine that device launches the electromagnetic time and receive electromagnetic time of described examined object emission; And

Described robot location determines that the phase difference of coordinate, feedback signal of device and described second object space and attitude determine that device emission electromagnetic wave to the electromagnetic time difference of the feedback that receives described examined object, determines the position of described examined object according to this moment.

22., it is characterized in that described first and second object spaces and attitude determine that device is radio frequency identification reader or infrared ray identification reader or ultrasonic wave identification reader according to the described robot detection automation method of one of claim 15 to 17.

23. robot detection automation method according to claim 22 is characterized in that described reader detects RFID tags or infrared ray identification (RFID) tag or the ultrasonic wave identification (RFID) tag that is installed on the described examined object.

24. robot detection automation method according to claim 15, it is characterized in that described first and second object spaces and attitude determine that device according to being installed in the original coordinates and the current detected coordinate of the identification (RFID) tag on the described examined object, determines the attitude of described examined object.

25. robot detection automation method according to claim 24, the identification (RFID) tag that it is characterized in that being installed on the described examined object is at least four, and is not positioned at same plane.

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